Lagrange Stabilization of Pendulum-Like Systems: A Pseudo <formula formulatype="inline"><tex Notation="TeX">H_{\infty}</tex> </formula> Control Approach

DOI10.1109/TAC.2012.2185882MaRDI QIDQ5352737zbMATHOpenAlexFDO

Authors Hua Ouyang, Ian R. Petersen, Valery Ugrinovskii

Publication date 8 September 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1107.5615

Mathematics Subject Classification ID

(H^infty)-control (93B36) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

Abstract: This paper studies the Lagrange stabilization of a class of nonlinear systems whose linear part has a singular system matrix and which have multiple periodic (in state) nonlinearities. Both state and output feedback Lagrange stabilization problems are considered. The paper develops a pseudo H-infinity control theory to solve these stabilization problems. In a similar fashion to the Strict Bounded Real Lemma in classic H-infinity control theory, a Pseudo Strict Bounded Real Lemma is established for systems with a single unstable pole. Sufficient conditions for the synthesis of state feedback and output feedback controllers are given to ensure that the closed-loop system is pseudo strict bounded real. The pseudo H-infinity control approach is applied to solve state feedback and output feedback Lagrange stabilization problems for nonlinear systems with multiple nonlinearities. An example is given to illustrate the proposed method.

Cited in

(6)

• Stabilization of a system of unstable pendulums: discrete and continuous case
• Low frequency Lagrange stabilization for pendulum‐like systems
• Stabilization of the Furuta pendulum based on a Lyapunov function
• A linear differential flatness approach to controlling the Furuta pendulum
• The simple pendulum and the periodic LQG control problem
• Stability analysis and state feedback stabilization of pendulum-like systems with multiple nonlinearities

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